motor/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "drv_at24cxx.h"
#include "bsp.h"
#include "Modbus_Function.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

volatile unsigned char sys_id = 0;
volatile unsigned char key_state = 0;


uint8_t buff[100];
size_t len;


int32_t cpu_load = 0;	


/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */



/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
  
  uint32_t tick_last = 0;
	
  uint8_t isAck = 0;

  unsigned char count = 0;
	
	
  uint32_t cur_ticks_us = 0;
  cpu_load = 0;	
	
	
	
	
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  MX_TIM3_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */

  AT24C_Init(&hi2c1);
  
  for(int i = 0;i < sizeof(buff);i++)
  {
	  buff[i] = i;
  }
  
  //AT24C_Write(0x100,buff,sizeof(buff));
  
  memset(buff,0x00,sizeof(buff));
  AT24C_Read(0x100,buff,sizeof(buff));
  
  
  //获取系统ID
  sys_id = SYS_getID();
  
  MODBUS_SLAVE_ID = sys_id;
  
  COMM_setSel(COMM_TYPE_485);
  
  
  //设置电机
  MOTOR_setDir(MOTOR_DIR_CW);
  MOTOR_setMS(MOTOR_MS_64);
  MOTOR_setEn(MOTOR_ENABLE);
  
  SERIAL_Init(&serial1,"UART1",&huart1,100, 100);
  SERIAL_StartRecv(&serial1);
  
  Modbus_Init();

  //开启系统定时器
  tick_init();
  tick_last = tick_count_200Hz;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  
	if(tick_last != tick_count_200Hz)
	{
	  tick_last = tick_count_200Hz;
		
	  cur_ticks_us = get_ticks_usec();	
		
      //modbus 轮询
	  Modbus_Poll();
	  
	  //获取按键状态
	  //做动到端点，或者指定位置，红灯亮
	  key_state = SYS_getKey();
	  
	  if(key_state)
	  {
		  LED_setToggle(LED_RED);
	  }
		
	  //电机控制
	  
	  len = SERIAL_Read(&serial1, buff, sizeof(buff));
	
		if(len)//这个长度不出意外的话是一包的长度
		{
			SERIAL_Write(&serial1,buff,len);
		}
	  
		//SERIAL_Write(&serial1,"1234567890",10);
	  

	  //cpu使用量计算
	    int32_t cur_cpu_load = get_ticks_usec() - cur_ticks_us;
	    if (cur_cpu_load >= cpu_load)
		{
			cpu_load = cur_cpu_load;
		}
		else if (cpu_load)
		{
			--cpu_load;
		}	
	}
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM4 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM4) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */
  else if (htim->Instance == TIM2) {
    tick_count();
  }
  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */